Fix CAMP sim lockup: non-blocking TF lookup in running-task overlay

src/camp/ros/ros_widget.cpp

@@ -11,7 +11,7 @@ ROSWidget::ROSWidget(QWidget *parent)
 
 }
 
-QGeoCoordinate ROSWidget::getGeoCoordinate(const geometry_msgs::msg::Pose &pose, const std_msgs::msg::Header &header)
+QGeoCoordinate ROSWidget::getGeoCoordinate(const geometry_msgs::msg::Pose &pose, const std_msgs::msg::Header &header, double timeout_sec)
 {
     if(header.frame_id.empty())
       return {};
@@ -23,7 +23,7 @@ QGeoCoordinate ROSWidget::getGeoCoordinate(const geometry_msgs::msg::Pose &pose,
     geometry_msgs::msg::PoseStamped ecef;
     try
     {
-      ecef = transform_buffer_->transform(ps, "earth", tf2::durationFromSec(1.5));
+      ecef = transform_buffer_->transform(ps, "earth", tf2::durationFromSec(timeout_sec));
     }
     catch (const tf2::TransformException &)
     {
@@ -37,7 +37,7 @@ QGeoCoordinate ROSWidget::getGeoCoordinate(const geometry_msgs::msg::Pose &pose,
       {
         ps.header.stamp.sec = 0;
         ps.header.stamp.nanosec = 0;
-        ecef = transform_buffer_->transform(ps, "earth", tf2::durationFromSec(1.5));
+        ecef = transform_buffer_->transform(ps, "earth", tf2::durationFromSec(timeout_sec));
       }
       catch (const tf2::TransformException &ex)
       {

src/camp/ros/ros_widget.h

@@ -15,7 +15,11 @@ class ROSWidget: public ROSClient<QWidget>
   ROSWidget(QWidget *parent = nullptr);
 
 protected:
-  QGeoCoordinate getGeoCoordinate(const geometry_msgs::msg::Pose &pose, const std_msgs::msg::Header &header);
+  // timeout_sec bounds the TF wait. The default keeps the original blocking
+  // behaviour for existing callers; pass 0.0 for a non-blocking lookup (e.g. on
+  // the GUI thread in a per-frame loop, where a 1.5 s block per pose freezes the
+  // UI — see camp#136).
+  QGeoCoordinate getGeoCoordinate(const geometry_msgs::msg::Pose &pose, const std_msgs::msg::Header &header, double timeout_sec = 1.5);
 
 
 };

src/camp/running_tasks/running_tasks_overlay.cpp

@@ -72,10 +72,15 @@ void RunningTasksOverlay::rebuildItems(
     // TaskInformation.poses is geometry_msgs/PoseStamped[] with per-pose headers.
     // getGeoCoordinate transforms each to earth frame with stale-stamp retry,
     // so the source frame (commonly map or earth) is handled transparently.
+    // Use a NON-BLOCKING lookup (0 s timeout): this runs on the GUI thread on
+    // every TaskFeedback rebuild, and the default 1.5 s blocking wait per pose
+    // freezes the whole UI when map->earth isn't yet available (camp#136). A
+    // pose that isn't transformable this cycle is simply skipped and reappears
+    // on the next rebuild once the (quasi-static) transform is available.
     QList<QGeoCoordinate> geo_poses;
     for (const auto& ps : task.poses)
     {
-      QGeoCoordinate gc = getGeoCoordinate(ps.pose, ps.header);
+      QGeoCoordinate gc = getGeoCoordinate(ps.pose, ps.header, 0.0);
       if (gc.isValid())
         geo_poses.append(gc);
     }